分布式驱动越野汽车驱动防滑控制
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摘要
分布式驱动越野汽车具有动力性能好、路面适应力强等优点,发展前景很好,但是四轮车速不一致会导致控制方法复杂度高。针对这一问题,基于四个车轮不同的加速度,首先计算最大驱动扭矩,建立基于加速度信息的滑转率观测器,然后以最大驱动扭矩为界限,控制各个电机的输出扭矩,使滑转率维持在最佳滑转率附近,从而达到驱动防滑的目的。最后与Carsim进行了联合仿真,结果表明控制方法能够快速显著地降低汽车车轮的滑转率,验证了控制方法的有效性。
The distributed driving off-road electric vehicle has the advantages of good dynamic performance, good adaptability of road, but the different wheels′ speed results in high complexity of control method. Aiming at this problem, based on different acceleration of four wheels, the maximum driving torque is firstly calculated and the slip ratio observer is built. Then chosing maximum driving torque as the boundary, the motor output torque is controlled to keep slip ratio near the optimal slip ratio. Finally, the simulation work combining with Carsim is done. The results show that the control method can significantly reduce the slip ratio of the car wheels, verify the effectiveness of the control systems.
The distributed driving off-road electric vehicle has the advantages of good dynamic performance, good adaptability of road, but the different wheels′ speed results in high complexity of control method. Aiming at this problem, based on different acceleration of four wheels, the maximum driving torque is firstly calculated and the slip ratio observer is built. Then chosing maximum driving torque as the boundary, the motor output torque is controlled to keep slip ratio near the optimal slip ratio. Finally, the simulation work combining with Carsim is done. The results show that the control method can significantly reduce the slip ratio of the car wheels, verify the effectiveness of the control systems.
引文
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[3] 李军,苏炎召,隗寒冰,等.四轮驱动混合动力汽车驱动防滑控制策略的研究[J].汽车工程,2017,39(3):296-303Li J, Su Y Z, Wei H B, et al. A research on the acceleration slip regulation strategy for a four wheel drive hybrid electric vehicle[J]. Automotive Engineering, 2017,39(3):296-303 (in Chinese)
[4] Mi C T, Lin H, Zhang Y. Iterative learning control of antilock braking of electric and hybrid vehicles[J]. IEEE Transactions on Vehicular Technology, 2005,54(2):486-494
[5] Hori Y. Future vehicle driven by electricity and control-research on four-wheel-motored "UOT Electric March II"[J]. IEEE Transactions on Industrial Electronics, 2004,51(5):954-962
[6] Yin D, Hori Y. A novel traction control of EV based on maximum effective torque estimation[C]//Proceedings of 2008 IEEE Vehicle Power and Propulsion Conference. Harbin, China: IEEE, 2008:1-6
[7] 张婷.分布式驱动电动车辆的驱动防滑控制研究[D].南京:南京理工大学,2017Zhang T. Research on the drive anti-slip control of distributed drive electric vehicle[D]. Nanjing: Nanjing University of Science and Technology, 2017 (in Chinese)
[8] 马宝忠,任传波,周继磊.含分数阶导数的1/4悬架模型时滞反馈控制研究[J].科学技术与工程,2017,17(21):89-96Ma B Z, Ren C B, Zhou J L. The research on 1/4 vehicle suspension model based on delay feedback control with fractional derivative[J]. Science Technology and Engineering, 2017,17(21):89-96 (in Chinese)
[9] Pacejka H B, Bakker E. The magic formula tyre model[J]. Vehicle System Dynamics, 1992,21(S1):1-18
[10] Park J S. The Simulink Programming Language[M]. Korean: A-Jin Publishing Co., Ltd., 2005
[11] Zhang F, Xuan H, Zhao Q, et al. A finite state machine model of lane-changing in microscopic traffic simulation[J]. System Simulation and Scientific Computing, Vols 1 and 2, Proceedings
[12] 李志魁.基于CarSim的整车动力学建模与操纵稳定性仿真分析[D].长春:吉林大学,2007Li Z K. Modeling, simulation and analysis of automotive handling and stability based on CarSim[D]. Changchun: Jilin University, 2007 (in Chinese)
[13] 付翔,孙威,黄斌,等.基于指数加权衰减记忆无迹卡尔曼滤波的路面附着系数估计[J].汽车技术,2018(1):31-37Fu X, Sun W, Huang B, et al. Estimation of road adhesion coefficient based on fading memory unscented Kalman filtering with exponential weighting[J]. Automobile Technology, 2018(1):31-37 (in Chinese)
[14] 齐志权,王宝锋,裴晓飞,等.基于路面特征参数和制动防抱调节特征的路面识别方法[J].汽车工程,2014,36(3):310-315Qi Z Q, Wang B F, Fei X F, et al. A method of road surface identification based on road characteristics and the features of antilock braking adjustment[J]. Automotive Engineering, 2014,36(3):310-315 (in Chinese)
[15] 邱灿文,阳林,李金畅,等.车辆在对开路面的制动仿真研究[J].农业装备与车辆工程,2018,56(3):45-47,54Qiu C W, Yang L, Li J C, et al. Research on braking simulation of vehicles on off-road[J]. Agricultural Equipment & Vehicle Engineering, 2018,56(3):45-47,54 (in Chinese)